freertos: Fix xTaskIncrementTick()

Previously, xTaskIncrementTick() would always trigger a yield (i.e., return pdTRUE)
when called on core 1. This would mean core 1 would call vTaskSwitchContext() on
every tick, leading to uneccesary CPU overhead.

This commit fixes xTaskIncrementTick() in the following ways:

- Clearly mark IDF additions in xTaskIncrementTick()
- Moved esp_vApplicationTickHook() to be called direclty in xPortSysTickHandler() in order to
  simplify xTaskIncrementTick().
- Only core 0 calls xTaskIncrementTick() in order to simplify the function's logic. Core 0 is
  solely responsible for managing xTickCount and xPendedTicks
- All other cores call xTaskIncrementTickOtherCores() instead which is a simplified version of
  xTaskIncrementTick() and handles the following:
    - Check if core 0 has unblocked a higher priority task to run
    - Check if the current core requires time slicing
    - Call vApplicationTickHook()

docs/en/api-guides/freertos-smp.rst

@@ -175,7 +175,7 @@ The resulting schedule will have Task A running on CPU0 and Task C preempting Ta
 Time Slicing
 ^^^^^^^^^^^^
 
-The Vanilla FreeRTOS scheduler implements time slicing meaning that if current highest ready priority contains multiple ready tasks, the scheduler will switch between those tasks periodically in a round robin fashion. 
+The Vanilla FreeRTOS scheduler implements time slicing meaning that if current highest ready priority contains multiple ready tasks, the scheduler will switch between those tasks periodically in a round robin fashion.
 
 However, in ESP-IDF FreeRTOS, it is not possible to implement perfect Round Robin time slicing due to the fact that a particular task may not be able to run on a particular core due to the following reasons:
 
@@ -267,7 +267,7 @@ Vanilla FreeRTOS requires that a periodic tick interrupt occurs. The tick interr
 - Checking if time slicing is required (i.e., triggering a context switch)
 - Executing the application tick hook
 
-In ESP-IDF FreeRTOS, each core will receive a periodic interrupt and independently run the tick interrupt. The tick interrupts on each core are of the same period but can be out of phase. Furthermore, the tick interrupt responsibilities listed above are not run by all cores:
+In ESP-IDF FreeRTOS, each core will receive a periodic interrupt and independently run the tick interrupt. The tick interrupts on each core are of the same period but can be out of phase. However, the tick responsibilities listed above are not run by all cores:
 
 - CPU0 will execute all of the tick interrupt responsibilities listed above
 - CPU1 will only check for time slicing and execute the application tick hook